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题名: Multiple Robots Formation Control Based On Receding Horizon Optimization
作者: He YQ(何玉庆) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Information and Automation (ICIA 2009)
会议日期: June 22-24, 2009
会议地点: Zhuhai, China
会议主办者: IEEE
会议录: ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2009
页码: 719-724
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-3607-1
摘要: A new two-level receding horizon multiple robot formation control strategy is proposed in this paper. Where the local GPMN tracking controllers acting on each individual robot system are at the lower level, and at the higher level, the receding horizon optimization is conducted by considering both the full dynamics of each robot system and their local controller. This new algorithm presents some attracting advantages, including the suboptimal formation behavior based on the receding horizon optimization algorithm, the convergence ensured by the GPMN structure, the good real time performance, and the reduced communicational burden. And finally, in order to show the feasibility and validity of the new proposed algorithm, simulations with respect to the formation problem of 4 planar model helicopters are conducted and the results are analyzed.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8797
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
何玉庆; 韩建达 .Multiple Robots Formation Control Based On Receding Horizon Optimization.见:IEEE .ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3,NEW YORK,2009,719-724
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